# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use

uint64 timestamp		# time since system start (microseconds)

float32 rollspeed		# Bias corrected angular velocity about X body axis in rad/s
float32 pitchspeed		# Bias corrected angular velocity about Y body axis in rad/s
float32 yawspeed		# Bias corrected angular velocity about Z body axis in rad/s

float32[4] q			# Quaternion rotation from NED earth frame to XYZ body frame
float32[4] delta_q_reset 	# Amount by which quaternion has changed during last reset
uint8 quat_reset_counter	# Quaternion reset counter

# TOPICS vehicle_attitude vehicle_attitude_groundtruth vehicle_vision_attitude
